CN213782954U - Industrial robot's control system and industrial robot system with fall electric safety - Google Patents
Industrial robot's control system and industrial robot system with fall electric safety Download PDFInfo
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- CN213782954U CN213782954U CN202021908287.5U CN202021908287U CN213782954U CN 213782954 U CN213782954 U CN 213782954U CN 202021908287 U CN202021908287 U CN 202021908287U CN 213782954 U CN213782954 U CN 213782954U
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Abstract
The utility model relates to an industrial robot's control system and industrial robot system with fall electric safety, its characteristics lie in, industrial robot's control system, including power supply unit and electric energy storage module, electric energy storage module is used for power supply unit accident does when stopping power supply industrial robot provides the electric energy so that industrial robot can carry out emergent instruction, emergent instruction includes following at least one of them: the method comprises the steps of controlling an industrial robot to place a carried object at a safe position, controlling the industrial robot and an end effector installed on the industrial robot to stop stably, and controlling the industrial robot to stop stably after finishing a current action period. The utility model has the advantages that: the industrial robot has good safety.
Description
Technical Field
The utility model relates to an industrial robot field especially relates to an industrial robot and control system thereof.
Background
With the development of society, robots are beginning to be widely used in various fields including home robots, industrial robots, and the like. Industrial robots include conventional industrial robots and novel cooperative robots that can cooperate with a person in close contact with the person to perform work, and can perform work in a dangerous environment with high accuracy and high efficiency, and thus are widely favored.
Industrial robots are usually supplied with ac power, which usually provides a stable source of energy for the industrial robot, but if the ac power is suddenly interrupted while the industrial robot is in operation, safety factors may arise.
Therefore, it is necessary to design an industrial robot control system and an industrial robot with good safety.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a better control system of security and industrial robot.
The utility model discloses can adopt following technical scheme: a control system for an industrial robot, comprising a power supply device and an electrical energy storage module for providing electrical energy to the industrial robot when the power supply device is unexpectedly de-energized to enable the industrial robot to execute emergency instructions, the emergency instructions comprising at least one of: the method comprises the steps of controlling an industrial robot to place a carried object at a safe position, controlling the industrial robot and an end effector installed on the industrial robot to stop stably, and controlling the industrial robot to stop stably after finishing a current action period.
Further, the control system comprises a power-off processing module, wherein the power-off processing module is used for detecting whether the power supply device stops supplying power accidentally, and controlling the industrial robot to execute an emergency instruction when detecting that the power supply device stops supplying power accidentally.
Further, the electric energy storage module is used for enabling the industrial robot to continuously work for 1-30 seconds after the power supply module stops supplying power accidentally.
Further, the electric energy storage module is used for enabling the industrial robot to continuously work for about one action period after the power supply module stops supplying power accidentally.
Further, the electric energy storage module can store electric energy when the motor of the industrial robot is in a power generation state.
Further, the electric energy storage module is arranged in the body of the industrial robot or in a control box of the industrial robot.
The utility model discloses still can adopt following technical scheme: an industrial robot system comprising an industrial robot and a control system according to any of the above.
Further, the industrial robot system is a collaborative robot system.
Compared with the prior art, the utility model discloses embodiment's beneficial effect lies in: the control system of the industrial robot can solve the safety problem of sudden power failure of the industrial robot, meanwhile, the electric energy in the power generation state of the industrial robot can be stored to improve the utilization rate of energy, and a proper electric energy storage module is selected, so that enough time can be provided for executing emergency instructions on the basis of good economical efficiency.
Drawings
Above the utility model discloses an aim at, technical scheme and beneficial effect can realize through following attached drawing:
fig. 1 is a schematic view of a control system according to an embodiment of the invention connected to an industrial robot
Fig. 2 is a block diagram of a control system according to an embodiment of the present invention
FIG. 3 is a block diagram of a control system according to another embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model provides a control system of industrial robot, refer to fig. 1, control system 1 includes power supply unit 11, power supply unit 11 provides working power volume for industrial robot 2, control system 1 electricity connect in industrial robot 2, and, control system 1 includes electric energy storage module 13, electric energy storage module 13 can save the electric energy, and for industrial robot 2 provides the electric quantity when power supply unit 11 accident stops the power supply. Usually, the industrial robot 2 is powered by ac, that is, the power supply device 11 provides an ac power source, the electric energy storage module 13 is capable of storing electric energy and providing electric energy when the power supply device 11 stops supplying power accidentally, the electric energy storage module 13 is used for providing dc power, further, the industrial robot 2 works in a dc power supply state, and the ac power provided by the power supply device 11 needs to be converted into dc power for the industrial robot 2 to work. By providing the electric energy storage module 13, after the power supply device 11 of the industrial robot 2 unexpectedly stops supplying power, the industrial robot can be supplied with power for a short time through the electric energy storage module 13 so as to ensure the operation safety of the industrial robot 2, the electric energy storage module is used for supplying electric energy to the industrial robot after the power supply device 11 unexpectedly stops supplying power so that the industrial robot can execute an emergency instruction, the emergency instruction can ensure the safety of the industrial robot and people in the working environment when the power supply device unexpectedly stops supplying power, and the emergency instruction comprises at least one of the following instructions: the method comprises the steps of controlling an industrial robot to place a carried object at a safe position, controlling the industrial robot and an end effector installed on the industrial robot to stop stably, and controlling the industrial robot to stop stably after finishing a current action period. It should be noted that an industrial robot is connected with an end effector to perform specific work, generally, an industrial robot is powered by a power supply device or an electric energy storage module, an end effector connected to the industrial robot and powered by the industrial robot may also be powered by the power supply device or the electric energy storage module, and after the power supply device stops supplying power, the electric energy storage module supplies power to the industrial robot and the end effector mounted thereon. When the industrial robot executes the emergency command, it can be understood that the industrial robot carries the end effector to collectively execute the emergency command. Through setting up electric energy storage module is for industrial robot power supply in order to carry out emergent instruction after power supply unit accident stops supplying power, can avoid because power supply unit's accident stops the potential safety hazard that the power supply brought, improves industrial robot security of operation.
Industrial robots include traditional industrial robots and novel cooperative robots, and industrial robots can be used for executing various work scenes, for example, stacking, object carrying and the like can be achieved, when the work executed by industrial robots is different, potential safety hazards caused by the fact that power supply devices stop supplying power unexpectedly are different, and executed emergency instructions can also be different. Further, the industrial robot is controlled to place the object carried by the industrial robot at a safe position, that is, the industrial robot sometimes performs a handling work during a work, for example, a box is conveyed to a conveyor belt for a next process, at this time, if the power supply device suddenly stops working, the box carried by the industrial robot 2 may fall off due to power failure, which may cause a possibility of injury to a person, or may damage other equipment in a working space, and when the power supply device unexpectedly stops supplying power, the energy of the industrial robot is supplied by the electric energy storage module 13, the industrial robot 2 can place the object carried by the industrial robot at a safe position, wherein the safe position may be a preset position set by a user in advance or a position recognized by the industrial robot 2; the industrial robot 2 and the end effector mounted thereon are controlled to be stopped smoothly, that is, after the power supply device stops supplying power accidentally, the industrial robot 2 and the end effector mounted thereon may be out of control, for example, when the end effector connected with the industrial robot is in a high-speed rotation state, the industrial robot may be in an out-of-control state due to the fact that the power supply device stops supplying power accidentally, and therefore the industrial robot 2 and the end effector mounted thereon can be stopped smoothly due to the energy supplied by the electric energy storage module 13; further, the industrial robot 2 is controlled to stop stably after the current action cycle is completed, that is, the industrial robot usually repeatedly executes the action cycle according to a preset flow, and starts the next action cycle after the action cycle is executed, when the robot is in the action cycle and the power supply device stops supplying power, the emergency instruction includes controlling the industrial robot to stop stably after the current action cycle is completed, so that the industrial robot can stop in a stable state, and the subsequent work is conveniently executed; through setting up emergent instruction for industrial robot can in time deal with after can not receiving the power supply from power supply unit, avoids because the unsafe factor that the outage brought suddenly. Specifically, the electric energy storage module is used for controlling the industrial robot to execute at least one emergency instruction after the power supply device stops supplying power accidentally, namely the industrial robot can execute one of the emergency instructions or can execute two or more of the emergency instructions. The general work environment of industrial robot is comparatively complicated, and is exemplary, industrial robot can include above-mentioned three kinds of emergency instruction to when the power supply unit accident of robot stops supplying power, according to the current state of robot, judge which kind of emergency instruction should be carried out, so that under the scene of difference, all can ensure industrial robot's operation safety.
When the industrial robot is performing work, the control system provides it with electric energy to ensure the performance of the work, meanwhile, the control system includes a power-off processing module 12, referring to fig. 2, the power-off processing module 12 can detect whether the power supply device unexpectedly stops supplying power, when detecting that the power supply device 11 stops supplying power accidentally, the industrial robot is controlled to execute an emergency command, and further, the power failure processing module 12 includes a power failure detection unit and a processing unit, referring to fig. 2, the power failure detection unit 121 is used to detect whether the power supply module unexpectedly stops supplying power, the processing unit 122 is electrically connected to the power outage detection unit 121 and both are capable of communicating, when the power failure detection unit 121 detects that the power supply module stops supplying power accidentally, the processing unit 122 can generate an emergency instruction to control the industrial robot 2 to execute the emergency instruction. Furthermore, the power failure processing module is used for detecting whether the power supply device stops supplying power accidentally or not, and when the power supply device stops supplying power accidentally, the electric energy storage module supplies energy to the industrial robot, so that the industrial robot can execute emergency instructions. Wherein the electrical energy storage unit provides energy for the industrial robot 2 when the outage handling module 12 detects that the power supply device 11 is accidentally powered off. Further, when the power failure processing module 12 detects that the power supply device 11 stops supplying power unexpectedly, the emergency command is executed to ensure the safety of the robot. Through setting up outage processing module for industrial robot can in time detect and feed back power supply unit's outage, in order to ensure industrial robot's security of operation.
The electric energy storage element is used for providing short-time power supply for the industrial robot when the power supply device 11 stops supplying power accidentally so that the industrial robot can execute emergency instructions to stop in a safe state, and therefore injury caused by emergency stop due to sudden loss of power supply when the power supply device 11 stops supplying power accidentally of a traditional industrial robot is avoided. Compared with the mode of using the uninterruptible power supply, the uninterruptible power supply mainly aims to enable the industrial robot to continue working through the uninterruptible power supply when the power supply device 11 stops supplying power accidentally, and the working process cannot be influenced. For the utility model provides an electric energy storage module 13 mainly is in order to when power supply unit 11 accident stops supplying power, for industrial robot temporary power supply in order to strive for "buffer time" for industrial robot can carry out emergent instruction in "buffer time" that electric energy storage module 13 provided, and then safe shut down. The utility model provides an electric energy storage module 13 for make industrial robot can last work 1-30s after power module stops, perhaps, electric energy storage module 13 is used for making industrial robot can last about a duty cycle after power module accident stops supplying power, and generally, industrial robot can accomplish work usually in 30s when power supply unit 11 accident stops supplying power, when carrying out the above emergency instruction promptly, simultaneously, through analysis industrial robot's conventional operating range and velocity of motion, can confirm when electric energy storage module duration of operation is 1-30, industrial robot's security can obtain guaranteeing. Simultaneously, the demand that can enough satisfy the execution emergency instruction of industrial robot is in, then the time that electric energy storage module can last can not be too short, it is corresponding promptly, can confirm the capacity of electric energy storage module according to the average power consumption of each concrete model of industrial robot, simultaneously, set up electric energy storage module this moment and make industrial robot can carry out emergency instruction, and then the safety shutdown, then be in the cost, the security, factors such as structural design, the time that electric energy storage module lasts need not too long, in order to avoid the security that great electric energy storage module design probably brought, problems such as structural design, consequently, the utility model discloses an electric energy storage module can last about 1-30s of working, in order not to design great electric energy storage module's capacity when guaranteeing industrial robot working property. And, the industrial robot 2 does not exceed 30s in a period, and the required time does not exceed the time required by the robot for a whole action period when the emergency command is executed, and when the robot is possibly interrupted due to the loss of the power supply device 11 in the execution work, the power storage module 13 can enable the robot to continuously work for about one action period, namely, the industrial robot can be ensured to be stopped stably after the current work period is finished. In one embodiment, the electrical energy storage module 13 is used to enable the industrial robot to continue to operate for 1-30s after the power supply module unexpectedly stops supplying power under typical conditions, which are statistical power consumption of various operations of the robot.
Further, the power supply device 11 provides alternating current, the electric energy storage module 13 can provide direct current, the industrial robot needs direct current when working, the control system 1 includes a power conversion circuit, referring to the embodiment shown in fig. 3, the power conversion circuit 14 includes an input side and an output side, and is used for converting the input voltage of the input side into the target output voltage required by the industrial robot working of the output side, that is, the industrial robot is connected to the output side of the power conversion circuit 14, the target output voltage required by the industrial robot working is the target direct current voltage, the power supply device 11 is arranged at the input side of the power conversion circuit, and the electric energy storage module is arranged at the output side of the power conversion circuit. Specifically, industrial robot's control system 1 includes electric energy storage module, electric energy storage module sets up in industrial robot's control box, perhaps electric energy storage module sets up in industrial robot body, electric energy storage module's output voltage can directly supply industrial robot to use, power supply unit's voltage obtains target output voltage after the processing of power conversion circuit and uses in order to supply industrial robot. Specifically, for example, when the cooperative robot is usually operated at 48V dc voltage, the target output voltage of the output side of the power conversion circuit 14 is 48V dc voltage, or when some cooperative robots are operated at 24V, the target output voltage is 24V dc voltage, that is, the power supply device 11 provides ac power, the power supply device 11 is connected to the input side of the power conversion circuit, the target output voltage obtained after the ac power of the power supply device 11 on the input side is processed by the power conversion circuit is used for the industrial robot to operate, further, the target output voltage is used for the industrial robot driving system to operate, and the target output voltage is dc voltage, for example, in fig. 3, the left side of the power conversion circuit is the input side, the right side is the output side, the power supply device 11 is arranged on the input side of the power conversion circuit 14, the electric energy storage module 13 is arranged at the output side of the power conversion circuit 14, when the industrial robot is in a power generation state, the electric energy storage module 13 can store direct current, when the electric energy storage module 13 supplies power to the industrial robot, the electric energy storage module 13 releases the stored direct current, namely, the electric energy storage module 13 connected at the output side of the power conversion circuit can store and release the direct current, the released direct current can be directly used by the industrial robot without being processed by the power conversion circuit, thereby avoiding the arrangement of redundant power conversion circuits, further reducing the cost of the control system 1, namely, the electric energy storage module 13 can directly release target output voltage for the industrial robot to use, and because the electric energy storage module at the output side of the power conversion circuit can directly provide voltage for the industrial robot, when the industrial robot power consumption is great, can also alleviate power supply converting circuit's pressure. Compared with the traditional method using the UPS, the novel method for solving the power failure condition of the control system is provided, the circuit design is simple, the realization is easy, and the safety of the industrial robot is good.
According to the foregoing, when the power supply device 11 stops supplying power unexpectedly, the electric energy storage module 13 becomes a means for supplying power temporarily, and specifically, the electric energy storage module 13 includes various objects capable of storing and releasing electric energy, for example, the electric energy storage module includes a battery, or the electric energy storage module includes a capacitor, which can both store energy and release energy to supply working electric energy of the industrial robot when necessary. Furthermore, the electric energy storage module can be arranged in the body of the industrial robot or in a control box of the industrial robot, usually, the power supply device is arranged in the control box of the industrial robot, the electric energy storage module can be arranged in the control box, when the power supply device stops supplying power accidentally, the electric energy storage module supplies power, the industrial robot is electrically connected with the control box, and the electric energy storage module of the control box can transmit electric energy to the industrial robot; or the electric energy storage module is arranged in the robot body, after the power supply device of the control box stops supplying power accidentally, the electric energy storage module in the body supplies power to ensure that the industrial robot can execute the emergency command, and the electric energy storage module is arranged in the body of the industrial robot, so that when the electric connection between the control box and the industrial robot is broken, the industrial robot can still execute the emergency command to ensure the safety of the industrial robot.
The above embodiment is the preferred embodiment of the present invention, and the beneficial effects of the preferred embodiment of the present invention are: the arrangement of the electric energy storage module enables the industrial robot to execute emergency instructions in the scene of sudden power failure, so that the industrial robot is good in safety, good in use experience and low in cost. Meanwhile, an appropriate electric energy storage module is selected, so that the safety is good, the cost is low and the structural design of the industrial robot is compact under the condition that the functional requirements are met. The utility model discloses still be used for providing an industrial robot system, industrial robot system includes industrial robot 2, the aforesaid any kind of control system 1, the preceding description has been expanded about the constitution of control system 1, and it is no longer repeated here. In an embodiment the control system 1 of the industrial robot comprises a control box of the industrial robot, which is a control center of the industrial robot, and in other embodiments the control system may further comprise a teach pendant of the industrial robot for presetting movement routes, actions etc. for the industrial robot, and further the utility model provides a further industrial robot system comprising a cooperative robot system, which is a light industrial robot capable of cooperating with a human to perform work together.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (8)
1. A control system of an industrial robot with power down safety, comprising a power supply device and an electric energy storage module, wherein the electric energy storage module is used for providing electric energy for the industrial robot when the power supply device stops supplying power accidentally so that the industrial robot can execute an emergency instruction, and the emergency instruction comprises at least one of the following instructions: the method comprises the steps of controlling an industrial robot to place a carried object at a safe position, controlling the industrial robot and an end effector installed on the industrial robot to stop stably, and controlling the industrial robot to stop stably after finishing a current action period.
2. The control system according to claim 1, characterized in that the control system comprises a power-off processing module for detecting whether the power supply device has unexpectedly stopped supplying power, and controlling the industrial robot to execute an emergency instruction upon detecting that the power supply device has unexpectedly stopped supplying power.
3. The control system of claim 1, wherein the electrical energy storage module is configured to enable the industrial robot to continue to operate for 1-30 seconds after the power supply module unexpectedly ceases to supply power.
4. The control system of claim 1, wherein the electrical energy storage module is configured to enable the industrial robot to continue operating for about one motion cycle after the power supply module unexpectedly ceases to provide power.
5. The control system of claim 1, wherein the electrical energy storage module is capable of storing electrical energy when the motor of the industrial robot is in a generating state.
6. The control system according to claim 1, characterized in that the electrical energy storage module is arranged in the body of the industrial robot or in the control box of the industrial robot.
7. An industrial robot system, characterized in that it comprises an industrial robot, and a control system according to any of claims 1-6.
8. An industrial robot system according to claim 7, characterized in that the industrial robot system is a cooperative robot system.
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| CN202021908287.5U CN213782954U (en) | 2020-09-04 | 2020-09-04 | Industrial robot's control system and industrial robot system with fall electric safety |
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| CN202021908287.5U CN213782954U (en) | 2020-09-04 | 2020-09-04 | Industrial robot's control system and industrial robot system with fall electric safety |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829373A (en) * | 2021-10-11 | 2021-12-24 | 中广核研究院有限公司 | Robot control device and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113829373A (en) * | 2021-10-11 | 2021-12-24 | 中广核研究院有限公司 | Robot control device and robot |
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